Capsule Micro-Robot Limbs for Mucilage Navigation
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Solution Overview
Problem
Conventional micro-robots for capsule type endoscopes face challenges in moving efficiently within organs coated with slippery mucilage due to limited close contact and high friction, which restricts their speed and reliability.
Innovation Solution
A capsule type micro-robot moving system featuring an inner cylinder with a locking groove, an outer cylinder with hinge recesses and rotation prevention features, and limbs with minute protrusions for enhanced contact and reduced friction, utilizing a PZT linear ultrasonic motor for efficient movement, and a semi-spherical camera with anti-adhesion coating for reduced organ damage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If an inchworm type micro-robot moving system is used to move the micro-robot, then the micro-robot can step the wall of the large intestine, but the close contact between the micro-robot body and the surrounding wall is limited due to mucilage coating and viscoelastic properties
Solution Approach 1:
The patent employs dynamic limb structures that can rotate between folded and unfolded states. When the inner cylinder moves, the limbs automatically unfold to contact the organ wall, providing dynamic adaptation to the viscoelastic and mucilage-coated surface, thereby improving contact reliability while maintaining ease of operation
Solution Approach 2:
The patent changes the contact parameters by introducing limbs with variable surface area through rotation. The limbs transition from a compact folded state to an extended unfolded state, increasing the contact surface area and friction coefficient dynamically, which overcomes the limited close contact caused by mucilage coating
2Productivity
If the micro-robot moves through mucilage-coated organs, then inspection can be performed, but the friction and organ damage increase due to the slippery surface
Solution Approach 1:
The patent uses a capsule structure with a flexible outer shell that can deform to accommodate the organ's surface. The capsule body is designed with a smooth, compliant surface that reduces mechanical stress and damage to the delicate organ tissue during high-speed movement
Solution Approach 2:
The patent replaces traditional mechanical propulsion that directly contacts the organ wall with an internal driving mechanism. The driving part moves the inner cylinder through internal mechanical transmission, while the limbs passively contact the wall only when needed, reducing direct mechanical friction and organ damage
3Device complexity
If conventional micro-robot structures are used, then the device can be simple, but the movement speed is limited due to friction and contact issues
Solution Approach 1:
The patent segments the robot body into distinct functional modules: a capsule body, an inner cylinder, multiple independent limbs, and a driving part. This segmentation allows each component to perform its specific function efficiently, enabling high-speed movement while maintaining overall structural simplicity through modular design
Solution Approach 2:
The patent employs a nested structure where the inner cylinder is positioned inside the capsule body, and the limbs are folded within the capsule when not in use. This nesting approach minimizes the overall device footprint and simplifies the external structure while accommodating the moving components needed for high-speed locomotion
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables high-speed movement with reduced friction and organ damage, allowing for reliable navigation and inspection within mucilage-coated organs, facilitating tasks like image capture and sampling while minimizing patient discomfort.
Implementation Method 1
a PZT linear ultrasonic motor for efficient movement
Implementation Method 2
limbs with minute protrusions for enhanced contact and reduced friction
Implementation Method 3
a plurality of minute protrusions is formed in the ends of the limbs... to increase adhesive force between the ends of the limbs and the wall of the organ
Data Source
AI summary
A capsule type micro-robot moving system moves on an organ's wall covered with mucilage at a high speed. The present invention provides a capsule type micro-robot moving system, which is structured such that a head is formed in a semi-spherical shape and the outer surface of the capsule is coated with an anti-adhesion coating agent for reducing friction against organs during the movement, particularly, is structured to move as long as a linear stroke corresponding to the distance between the driving part and the inner cylinder in the state that the limbs folded in and unfolded out of the capsule completely contact and stick to the walls of the organs, resulting in providing the reliability and moving more rapidly.